无人机磁罗盘校准与航向解算实验系统设计与实现  

Design and implementation of UAV magnetic compass calibration and yaw determination experiment system

作　　者：唐劲飞[1] 祁承超[1] 王资 TANG Jingfei;QI Chengchao;WANG Zi(Air Force Early Warning Academy,Wuhan 430019,China)

机构地区：[1]空军预警学院,武汉430019

出　　处：《空军预警学院学报》2020年第5期387-390,共4页Journal of Air Force Early Warning Academy

摘　　要：针对无人机磁罗盘校准和航向解算缺乏专用实验系统问题,依据磁罗盘校准与航向解算相关理论,设计了以单片机为核心的实验系统.该实验系统使用永磁体模拟磁干扰,实现了磁场的采集、存储和显示;采用最小二乘法处理磁场数据,解算出硬磁干扰系数;利用姿态传感器,获取俯仰角、滚转角,以辅助无人机空中任意姿态飞行时航向的解算.经测试,该实验系统符合精度要求且易于使用.Aimed at the problem that UAV magnetic compass calibration and yaw determination experiment platform lack special experimental system,and based upon the theories related to magnetic compass calibration and yaw determination,this paper designs the experiment system with micro control unit(MCU)as the core.The proposed experimental system uses permanent magnets to simulate magnetic interference,realizing the acquisition,storage and display of magnetic field.And then,the least square method is used to process magnetic data and to calculate the hard magnetic interference coefficient.Finally,the attitude sensor is used to obtain pitch angle and roll angle so as to assist the acquisition of UAVs’yaw calculation results when they are maneuvering with arbitrary attitude in the air.The tests show that the experimental system meets the requirement of precision and is also easy to use.

关 键 词：无人机导航 磁罗盘校准 航向解算 

分 类 号：V279[航空宇航科学与技术—飞行器设计]